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ICRA
2005
IEEE

Integrating Tactile and Force Feedback with Finite Element Models

10 years 3 months ago
Integrating Tactile and Force Feedback with Finite Element Models
— Few systems have integrated the correct tactile and kinesthetic force feedback response with an accurate computational model of a compliant environment. We examine several design issues that arise in the construction of a compliance render, specifically the interaction between impedances of tactile displays, impedances of robot arms, and the computational model. We also describe an implementation of a compliance rendering system combining a low impedance robot arm for large workspace kinesthetic force feedback, a high impedance shape display for distributed tactile force feedback to the fingerpad, and a real time finite element modeler. We conducted a user study examining stiffness discrimination ability to determine the efficacy of the integration of the tactile and kinesthetic force feedback components. Subjects were able to reliably detect a 20% difference in rendered material stiffness using the compliance rendering system.
Christopher R. Wagner, Douglas P. Perrin, Ross L.
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Christopher R. Wagner, Douglas P. Perrin, Ross L. Feller, Robert D. Howe, Olivier Clatz, Hervé Delingette, Nicholas Ayache
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